System and method for monitoring the condition of road structures

Abstract

To provide a system for monitoring road structure conditions with low management costs.SOLUTION: A road structure condition estimation system includes a plurality of vehicles 100, a storage server 200, and a road structure condition estimation device 300. The vehicle 100 includes: one or more vehicle-mounted sensors 110; a position detection unit 120 that detects its own position; and a feature data transmission unit 150 that transmits one or both of detection data detected by the vehicle-mounted sensors 110 and processed data obtained by processing the detection data according to predetermined rules to the storage server 200 via a mobile communication network 500 as feature data and adding location information. A condition estimation unit 140 of the road structure condition estimation device 300 estimates the condition of a road structure based on the plurality of feature data and the location information stored in the storage server 200.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system for monitoring the condition of a road structure and detecting the occurrence of an abnormality or a sign of an abnormality in the road structure. [Background technology]

[0002] Conventionally, a monitoring system that attaches sensors to road structures and periodically acquires detection signals from the sensors is known as a system for monitoring the condition of road structures (see Patent Document 1). For example, in a bridge monitoring system, sensors are attached to bearings, expansion joints, main girders, etc. Typical sensors used are displacement systems, accelerometers, strain gauges, etc. Such a monitoring system can reduce the frequency with which managers must visit the site to inspect road structures, thereby reducing management costs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-79544 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in order to operate the above-mentioned system properly, it is necessary to periodically inspect and replace the sensors attached to the road structures, but the lifespan of the sensors is much shorter than the lifespan of the road structures themselves. Therefore, even if the manager does not need to inspect the road structures, he or she needs to periodically visit the site to inspect the sensors. For this reason, the reduction in management costs is not significant. In addition, if the manager is to periodically visit the site to inspect the sensors, it is also possible to inspect the road structures at the same time. In other words, although the above-mentioned conventional system is significant in that it can monitor road structures remotely, it has little effect on reducing costs in terms of maintenance and operation.

[0005] In addition, road structures are widely distributed throughout the country and are managed by various people. For this reason, it is not realistic to install sensors on all road structures throughout the country and to perform regular inspections of the sensors. For this reason, the number of road structures that can be monitored is practically limited. Since road structures are generally constructed to be sturdy, the probability that a specific road structure being monitored is damaged and data at the time of damage can be obtained from the road structure is extremely small. As such, since it is difficult to obtain data at the time of damage, it is difficult to construct a judgment logic for determining the occurrence of an abnormal state in monitoring.

[0006] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a condition monitoring system for road structures which requires low management costs. [Means for solving the problem]

[0007] In order to achieve the above object, the road structure condition monitoring system of the present invention comprises one or more on-board sensors mounted on a vehicle, a position detection device provided on the vehicle for detecting its own position, a transmission means provided on the vehicle for transmitting, as feature data, one or both of the detection data detected by the on-board sensor and processed data obtained by processing the detection data according to a predetermined rule, and adding location information to the data to an external device via a mobile communication network, a storage server for storing the feature data and location information transmitted from the transmission means of a plurality of the vehicles, and a road structure condition estimation device for estimating the condition of the road structure based on the plurality of accumulated feature data and location information, wherein the on-board sensor includes a microphone for detecting sounds during driving, and the transmission means detects the occurrence of an abnormal sound caused by a weld crack in a bridge based on the sounds detected by the microphone from which steady driving sounds generated by contact between the tires and the road surface have been removed, and transmits information indicating the occurrence of the abnormal sound to the external device as feature data and adding location information to the data, and the road structure condition estimation device estimates the occurrence of an abnormality, namely a weld crack, or a sign of an abnormality, at a position related to the feature data based on the frequency of the feature data. The road structure condition monitoring system according to the present invention includes one or more on-board sensors mounted on a vehicle, a position detection device mounted on the vehicle for detecting the vehicle's own position, a transmission means mounted on the vehicle for transmitting, as feature data and with location information to an external device via a mobile communication network, either or both of detection data detected by the on-board sensor and processed data obtained by processing the detection data according to a predetermined rule, and a storage server for storing the feature data and location information transmitted from the transmission means of a plurality of the vehicles, and a detection and notification system for detecting the condition of the road structure based on the plurality of stored feature data and location information. The vehicle-mounted sensor includes an acceleration sensor that detects the acceleration of the vehicle in a direction perpendicular to the road surface, and an outside air temperature sensor that detects the outside air temperature. When the acceleration exceeds a predetermined threshold, the transmission means transmits the acceleration and the outside air temperature for a predetermined period before and after the occurrence of the threshold as feature data and also adds location information to the data, and transmits the data to the outside. The road structure state estimation device is characterized in that it estimates the occurrence of an abnormality, such as an abnormality in the gap of a bridge expansion joint, and the location associated with the abnormality, or a sign of the occurrence of an abnormality and the location associated with the sign, based on the correlation between the acceleration and the outside air temperature. Effect of the Invention

[0008] According to the present invention, either or both of the detection data detected by the on-board sensor installed in the vehicle and the processed data obtained by processing the detection data according to a predetermined rule are stored as feature data together with the location information in the storage server. Then, the road structure state estimation device estimates the state of the road structure based on the multiple feature data and the location information.

[0009] Vehicles are equipped with various sensors, and the types and numbers of sensors have been increasing in recent years. In addition, many vehicles equipped with wireless communication functions and capable of data communication with the outside have appeared in recent years. In the present invention, such vehicles are used to collect and accumulate characteristic data, and the state of road structures is estimated by analyzing the accumulated characteristic data. This makes it possible to acquire and accumulate characteristic data related to road structures from a wide area across the country without attaching sensors to the road structures. Therefore, it is possible to realize condition monitoring of road structures with low management costs. [Brief description of the drawings]

[0010] [Figure 1] System configuration diagram of road structure condition monitoring system [Diagram 2] A functional block diagram of a vehicle; [Diagram 3] Functional block diagram of the road structure state estimation device DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A road structure state monitoring system according to an embodiment of the present invention will be described with reference to the drawings. Figure 1 is a system configuration diagram of the road structure state monitoring system, Figure 2 is a functional block diagram of a vehicle, and Figure 3 is a functional block diagram of a road structure state estimation device.

[0012] As shown in FIG. 1, the road structure state monitoring system includes an accumulation server 200 that acquires and accumulates data from a plurality of vehicles 100, and a road structure state estimation device 300.

[0013] The vehicle 100 is configured to be able to perform data communication with the storage server 200 via a network. The type and implementation form of the network, i.e., the communication path, between the vehicle 100 and the storage server 200 are not important. The network, i.e., the communication path, between the vehicle 100 and the storage server 200 may be different for each vehicle 100. The network, i.e., the communication path, between the vehicle 100 and the storage server 200 may be changed as the vehicle 100 moves. In this embodiment, each vehicle 100 is accommodated in a mobile communication network 500, and each vehicle 100 is configured to be able to perform data communication with the storage server 200 via the mobile communication network 500 and the Internet 400.

[0014] The storage server 200 and the road structure state estimation device 300 are arranged on a network so as to be able to communicate data with each other. The type of network and the implementation form are not important. The storage server 200 and the road structure state estimation device 300 may be arranged on different networks or on the same network. A plurality of storage servers 200 may be provided. In this embodiment, the storage server 200 and the road structure state estimation device 300 are arranged on the Internet 400. In other words, the storage server 200 and the road structure state estimation device 300 are implemented as cloud servers. A user of this system can access the road structure state estimation device 300 and the storage server 200 using a user terminal 600 arranged on a local network. In another example, the storage server 200 may be arranged on a mobile communication network 500. In this case, the storage server 200 can be implemented as an edge server in the mobile communication network 500. In another example, the road structure state estimation device 300 is arranged on the user's local network.

[0015] As shown in FIG. 2, the vehicle 100 includes multiple types of on-board sensors 110, a position detection unit 120, a Global Navigation Satellite System (GNSS) receiving device 130, a detection data processing unit 140, a feature data transmission unit 150, and a communication device 160.

[0016] The on-vehicle sensor 110 is a sensor that detects various behaviors of each part of the vehicle and the state of the environment around the vehicle. In the present invention, the on-vehicle sensor includes not only a single-function sensor element, but also a combination of multiple sensor elements with different functions, and a sensor equipped with various circuits required for functioning as a sensor. Examples of the on-vehicle sensor 110 include an acceleration sensor, an angular velocity sensor, an optical sensor, an infrared sensor, a vibration detection sensor, a distortion detection sensor, a camera for capturing images, a microphone for detecting sound, an ultrasonic sensor, an inertial measurement unit (IMU), and the like. The on-vehicle sensor 110 in the present invention can be used in combination with a sensor already equipped in the vehicle 100 for driving the vehicle 100. For example, various sensors can be used, such as an acceleration sensor used in an active suspension, a vehicle speed sensor, an acceleration sensor used in an airbag, an outside air temperature sensor for an air conditioning system, a camera for monitoring the front and rear, and an acceleration sensor or air pressure sensor built into a tire.

[0017] The position detection unit 120 detects the current position of the vehicle 100. Various methods for position detection by the position detection unit 120 can be used. In the example shown in Fig. 2, the position detection unit 120 can acquire position information measured by the GNSS receiver 130 and detect the current position using this position information. The position detection unit 120 can correct the position information measured by the GNSS receiver 130 using detection data by one or more on-board sensors 110 and position data acquired from the communication device 160.

[0018] The GNSS receiver 130 is a well-known device related to a satellite positioning system, and detects its current position based on signals received from positioning satellites. The GNSS receiver 130 also detects the current time based on signals received from positioning satellites.

[0019] The detection data processing unit 140 generates processed data by processing detection data detected by any of the on-board sensors 110 according to a predetermined rule. Here, the predetermined rule can be arbitrarily set according to the monitored object and the monitoring mode. For example, the processed data can be one or more pieces of data corresponding to the detected data processed from any of the on-board sensors 110. Also, the processed data can be one piece of data processed from the detected data from multiple on-board sensors 110. Also, the processed data can be one or more pieces of data processed from multiple pieces of detected data acquired over time from any of the on-board sensors 110. The processed data can be a continuous value or a discrete value such as on / off.

[0020] The feature data transmission unit 150 regards either or both of the detection data from any on-board sensor 110 and the processing data generated by the detection data processing unit 140 as feature data, and further adds position information of the vehicle 100 detected by the position detection unit 120 to the feature data and transmits the result to the accumulation server 200. The timing of transmitting the feature data can be arbitrarily set according to the monitored object and monitoring form, and according to the timing of generating the processing data by the detection data processing unit 140. For example, the feature data transmission unit 150 may transmit the feature data to the accumulation server 200 in real time every time data is generated in the on-board sensor 110 or the detection data processing unit 140. In addition, for example, the feature data transmission unit 150 may temporarily store the data generated in the on-board sensor 110 or the detection data processing unit 140 for a certain period or a certain capacity, and transmit the feature data collectively to the accumulation server 200 after the certain period has elapsed or after the certain capacity has been reached. In addition, the feature data transmission unit 150 may further add time information of the data generation or data transmission to the feature data.

[0021] As described above, the processing of the detection data processing unit 140 and the feature data transmission unit 150 can be arbitrarily set according to the monitored object and the monitoring mode. Specific examples of the processing of the detection data processing unit 140 and the feature data transmission unit 150 will be described in detail in the embodiments described later.

[0022] The communication device 160 is a device for connecting to the mobile communication network 500. The communication device 160 may include a plurality of devices depending on the network that is a communication path between the communication device 160 and the storage server 200. In some embodiments, the communication device 160 may obtain location information from the mobile communication network 500.

[0023] The accumulation server 200 is a known information processing device including a main processing unit, a main memory device, an auxiliary memory device (storage), an input / output device, a communication device, and the like. The accumulation server 200 may be implemented in any manner, and may be implemented by dedicated hardware or by installing a program on a general-purpose computer. The accumulation server 200 may also be implemented in a distributed manner on multiple devices. In this embodiment, the accumulation server 200 is implemented as a cloud server on the Internet 400.

[0024] The accumulation server 200 receives the feature data, the position information, and the time information from the vehicle 100 and accumulates them in a predetermined storage. If the data received from the vehicle 100 does not include time information, the accumulation server 200 can accumulate the data, together with the received feature data and position information, in a predetermined storage, using the time information as the time of receiving the data from the vehicle 100. The accumulation server 200 makes the accumulated data accessible to the road structure state estimation device 300.

[0025] The road structure state estimation device 300 is composed of a well-known information processing device equipped with a main processing device, a main memory device, an auxiliary memory device (storage), an input / output device, a communication device, etc. The road structure state estimation device 300 may be implemented in any manner, and may be implemented by dedicated hardware or by installing a program on a general-purpose computer. The road structure state estimation device 300 may also be implemented in a distributed manner on multiple devices. In this embodiment, the road structure state estimation device 300 is implemented as a cloud server on the Internet 400. A user can access the road structure state estimation device 300 using a user terminal 600 arranged on a local network.

[0026] As shown in FIG. 3, the system includes an accumulated data acquisition unit 310, a road structure information storage unit 320, a case information storage unit 330, and a state estimation unit 340.

[0027] The accumulated data acquisition unit 310 acquires accumulated data from the accumulation server 200. The accumulated data acquisition unit 310 can acquire only data on any road structure from the accumulation server 200. In this case, the accumulated data acquisition unit 310 can acquire position information of the road structure from the road structure information storage unit 320, and extract accumulated data from the accumulation server 200 using the position information. The road structures to be acquired may be set in advance, or may be set by the user each time.

[0028] The road structure information storage unit 320 stores various information related to road structures. The information stored in the road structure information storage unit 320 may be input by a user or may be acquired and input from outside. The information stored in the road structure information storage unit 320 may include position information of road structures. In addition, the information stored in the road structure information storage unit 320 may include estimation parameters used for estimating abnormality of road structures, such as threshold values.

[0029] The case information storage unit 330 stores feature data (hereinafter referred to as "case data") about abnormalities in road structures that have occurred in the past within a predetermined period and a predetermined location range. The case data is referred to in the state estimation unit 340. The case data may be input by a user, or may be acquired and input from an external source such as the accumulation server 200. In this embodiment, the case information storage unit 330 stores case data about abnormalities in road structures that have occurred in the past, but may also store information required to extract case data about abnormalities in road structures that have occurred in the past from the data accumulated in the accumulation server 200.

[0030] The state estimation unit 340 estimates the state of the road structure by analyzing the data accumulated in the accumulation server 200. Various data analysis methods can be used. The state estimation unit 340 monitors the feature data accumulated in the accumulation server 200, and detects behavior of the feature data that is different from a normal (normal) pattern, thereby estimating the occurrence of an abnormality and the location related to the occurrence of the abnormality, or a sign of the occurrence of an abnormality and the location related to the sign. Various abnormality estimation methods can be used. For example, the state estimation unit 340 can use well-known abnormality determination logic such as outlier detection, change point detection, and abnormal part detection. For example, the state estimation unit 340 can perform abnormality determination, etc. using analysis technology in the field of so-called artificial intelligence. The state estimation unit 340 can refer to information stored in the case information storage unit 330 for state estimation processing. The state estimation unit 340 can perform machine learning based on the information stored in the case information storage unit 330, and can be implemented as an estimation engine based on this machine learning.

[0031] In some embodiments, the state estimation unit 340 estimates an abnormality occurrence and a location related to the abnormality occurrence, or a sign of an abnormality occurrence and a location related to the sign, based on a change over time in the feature data.

[0032] In some embodiments, the state estimation unit 340 compares case data about abnormalities in road structures that have occurred in the past within a specified period and a specified location range, and estimates the occurrence of an abnormality and the location related to the abnormality, or a sign of the occurrence of an abnormality and the location related to the sign.

[0033] In some embodiments, the feature data includes vehicle feature data related to the behavior of the vehicle while the vehicle is traveling and environmental feature data related to the environment around the vehicle, and the state estimation unit 340 estimates the occurrence of an abnormality and a location related to the occurrence of the abnormality, or a sign of the occurrence of an abnormality and a location related to the sign, based on the correlation between the vehicle feature data and the environmental feature data.

[0034] When the state estimation unit 340 detects an abnormality in a road structure or a sign of an abnormality, it outputs the time when the abnormality occurred or the time when the abnormality is predicted to occur, and the position information thereof, as an estimation result. In addition, when the state estimation unit 340 detects an abnormality in a road structure or a sign of an abnormality, it can notify the user.

[0035] According to the road structure state monitoring system of this embodiment, either or both of the detection data detected by the on-board sensor 110 provided on the vehicle 100 and the processed data obtained by processing the detection data according to a predetermined rule are stored as feature data together with the location information in the storage server 200. Then, the road structure state estimation device 300 estimates the state of the road structure based on the multiple feature data and the location information. In this way, since the feature data related to the road structures is acquired and stored from a wide area across the country without attaching sensors to the road structures, the state monitoring of the road structures can be realized with low management costs.

[0036] Although one embodiment of the present invention has been described in detail above, the present invention is not limited to the above embodiment, and various improvements and modifications may be made without departing from the spirit and scope of the present invention.

[0037] For example, in the above embodiment, the vehicle 100 includes the detection data processing unit 140 that processes the detection data from the on-board sensor 110 according to a predetermined rule, but the detection data processing unit 140 may be omitted. In this case, the feature data transmission unit 150 transmits the detection data from the on-board sensor 110 to the accumulation server 200 as feature data.

[0038] In addition, in the above embodiment, the accumulation server 200 and the road structure state estimation device 300 are implemented as separate devices, but they may be implemented as an integrated device.

[0039] The user terminal 600 of the user of the road structure state monitoring system may be a mobile communication terminal carried by the user. The user terminal 600 may be disposed in any of the vehicles 100. EXAMPLES

[0040] This embodiment is intended to detect weld cracks in bridges.

[0041] In this embodiment, a microphone built into the tire is used as the on-board sensor 110. The detection data processing unit 140 detects the occurrence of an abnormal sound based on the sound detected by the microphone, from which regular running sounds generated by contact between the tire and the road surface have been removed, and sets the occurrence of the abnormal sound as processing data. More specifically, the detection data processing unit 140 removes the sound originating from the vehicle 100 by taking the difference with the running sound from one tire rotation ago. In this way, the detection data processing unit 140 can detect "abnormal sounds" originating from road structures, such as creaking sounds at weld cracks and reflected sounds from RC (Reinforced Concrete) deck voids. When the characteristic data transmission unit 150 detects an "abnormal sound", it transmits that fact to the accumulation server 200 as characteristic data together with the position information. Note that the difference is not limited to the difference from one rotation ago, but may be the difference from several rotations ago or the average value of the past several rotations.

[0042] The state estimation unit 340 of the road structure state estimation device 300 estimates the occurrence or sign of an abnormality, namely "weld crack in bridge", at the position related to the feature data based on the frequency of the feature data. Here, the state estimation unit 340 excludes feature data at the position of a predetermined structural element included in the road structure from the processing target. Whether or not it is a predetermined structural element is stored in the road structure information storage unit 320 in advance, and this information can be referenced. This makes it possible to eliminate known singular points such as bridge expansion joints and manholes that generate "abnormal sounds".

[0043] In addition, instead of a microphone built into the tire, other sensors such as a microphone provided on the frame of the vehicle 100 or a vibration sensor provided on the frame of the vehicle 100 may be used as the on-board sensor 110 for detecting the running sound of the vehicle 100. EXAMPLES

[0044] This embodiment is intended to detect an abnormality in the gap between expansion joints in a bridge.

[0045] In this embodiment, an acceleration sensor that detects the acceleration of the vehicle 100 in a direction perpendicular to the road surface, a speed sensor that detects the speed of the vehicle 100 in the traveling direction, and an outside air temperature sensor that detects the outside air temperature of the vehicle 100 are used as the on-board sensors 110. The acceleration sensor can also be used as an acceleration sensor for an airbag provided in the vehicle 100. The speed sensor can also be used as a vehicle speed sensor provided in the vehicle 100. The outside air temperature sensor can also be used as an outside air temperature sensor for an air conditioning device of the vehicle 100.

[0046] The detection data processing unit 140 monitors the detection data by the acceleration sensor while recording it for a predetermined period of time, and when a large acceleration is detected, outputs the acceleration data before and after the large acceleration as processed data. When the detection data processing unit 140 outputs the processed data, the feature data transmission unit 150 adds the detection data of the speed sensor and the detection data of the outside air temperature sensor to the processed data to generate feature data, and transmits the feature data to the accumulation server 200 together with the position information.

[0047] When the movable bearing is damaged, it is considered that the relationship between the outside temperature and the acceleration changes. Therefore, the state estimation unit 340 of the road structure state estimation device 300 estimates the occurrence of an abnormality called "abnormality in the expansion joint gap" and the location related to the occurrence of the abnormality, or a sign of the occurrence of the abnormality and the location related to the sign, based on the change in the correlation between the acceleration and the outside temperature. Here, the acceleration of the vehicle 100 in a direction perpendicular to the detected road surface at a certain point changes depending on the speed of the vehicle 100. Therefore, in the above-mentioned estimation process, the effect of the speed on the acceleration can be eliminated by correcting the acceleration using the speed, thereby improving the accuracy. The expansion joint gap is approximately equal to the bearing movement amount.

[0048] In place of the acceleration sensor, a tire pressure sensor that detects the air pressure of a tire may be used. EXAMPLES

[0049] This embodiment is intended to grasp the degree of deck damage in a bridge.

[0050] In this embodiment, a tire position sensor provided on an active suspension of the vehicle 100 is used as the on-board sensor 110. The tire position sensor is a sensor that detects the relative height of the tire with respect to the frame of the vehicle 100. In other words, the tire position sensor detects the amount of expansion and contraction of the springs that constitute the suspension or the amount of expansion and contraction of the shock absorbers.

[0051] When an RC deck with deck spans in the bridge axis direction (a deck that is driven down by intermediate cross beams) deteriorates, the deck undulates slightly in the bridge axis direction (the cross beam parts that do not deflect are peaks, and the spaces between the cross beams are valleys). The suspension of a vehicle running on this repeatedly expands and contracts regularly. Therefore, the detection data processing unit 140 outputs processed data that indicates the periodic change in height, which is data detected by the tire position sensor while the vehicle 100 is running, and indicates the deflection of the deck in the bridge axis direction. The feature data transmission unit 150 transmits the processed data to the accumulation server 200 as feature data together with the position information.

[0052] The state estimation unit 340 of the road structure state estimation device 300 can grasp the degree of deck damage based on the data accumulated in the accumulation server 200. Furthermore, the state estimation unit 340 regards the degree of deck damage as the degree of abnormality, and can estimate the occurrence of an abnormality called "deck damage" and the location related to the occurrence of the abnormality, or a sign of the occurrence of the abnormality and the location related to the sign, based on the degree of abnormality. The deflection of an aged RC deck is on the order of 1 to 0.1 mm and cannot be detected by humans, but this embodiment makes it possible to detect the deflection.

[0053] In place of the acceleration sensor, a tire pressure sensor that detects the air pressure of a tire may be used. EXAMPLES

[0054] This embodiment is intended to detect vibrations of a bridge.

[0055] In this embodiment, an acceleration sensor constituting an active suspension is used as the on-board sensor 110. This acceleration sensor can detect vibrations of the bridge girders while the vehicle 100 is traveling on the bridge. In addition, this acceleration sensor can detect vibrations of the bridge girders even when the vehicle 100 is stopped on the viaduct due to congestion or the like. The feature data transmission unit 150 transmits the detection data of the acceleration sensor as feature data to the accumulation server 200 together with the location information.

[0056] The state estimation unit 340 of the road structure state estimation device 300 can detect bridge vibrations based on the data accumulated in the accumulation server 200. In addition, the state estimation unit 340 can estimate the occurrence of an abnormality and the location related to the occurrence of the abnormality, or a sign of the occurrence of an abnormality and the location related to the sign, based on the vibrations of the bridge. [Explanation of symbols]

[0057] 100…Vehicle 110…In-vehicle sensor 120... Position detection unit 130…GNSS receiver 140...detection data processing unit 150…Characteristic data transmission unit 200...Storage server 300...Road structure state estimation device 310…Accumulated data acquisition section 320…Road structure information storage unit 330…Case information storage unit 340... State estimation unit 400…Internet 500…Mobile communication network 600...User terminal

Claims

1. one or more on-board sensors mounted on a vehicle; A position detection device provided in the vehicle for detecting its own position; a transmitting means provided in the vehicle for transmitting, as feature data, either or both of detection data detected by the on-board sensor and processed data obtained by processing the detection data according to a predetermined rule, together with location information, to an external device via a mobile communication network; a storage server that stores the characteristic data and the position information transmitted from the transmission means of the plurality of vehicles; a road structure state estimation device for estimating a state of a road structure based on the plurality of accumulated feature data and position information, The vehicle-mounted sensor includes a microphone that detects sounds during driving, The transmitting means detects the occurrence of an abnormal sound caused by a weld crack in a bridge based on the sound detected by the microphone after removing stationary running sounds generated by contact between the tire and the road surface, and transmits the occurrence of the abnormal sound as characteristic data and location information to the outside, The road structure state estimation device estimates the occurrence of an abnormality such as a weld crack or a sign of an abnormality occurrence at a position related to the feature data based on the frequency of the feature data. A road structure condition monitoring system comprising:

2. The transmitting means detects, as an abnormal sound, a creaking sound of a cracked portion caused by a weld crack or a reflected sound from a gap caused by a weld crack, based on the sound detected by the microphone, from which a steady running sound generated by contact between the tire and the road surface has been removed.

2. The road structure condition monitoring system according to claim 1.

3. The road structure state estimation device excludes feature data regarding the positions of predetermined structural elements included in the road structure from the processing target.

3. A road structure condition monitoring system according to claim 1 or 2.

4. one or more on-board sensors mounted on a vehicle; A position detection device provided in the vehicle for detecting its own position; a transmitting means provided in the vehicle for transmitting, as feature data, either or both of detection data detected by the on-board sensor and processed data obtained by processing the detection data according to a predetermined rule, together with location information, to an external device via a mobile communication network; a storage server that stores the characteristic data and the position information transmitted from the transmission means of the plurality of vehicles; a road structure state estimation device for estimating a state of a road structure based on the plurality of accumulated feature data and position information, The vehicle-mounted sensor includes an acceleration sensor that detects an acceleration of the vehicle in a direction perpendicular to a road surface, and an outside air temperature sensor that detects an outside air temperature, the transmitting means transmits, when the acceleration exceeds a predetermined threshold, the acceleration and the outside air temperature for a predetermined period before and after the occurrence of the threshold as characteristic data, together with location information, to the outside; The road structure state estimation device estimates the occurrence of an abnormality, such as an abnormality in the gap of a bridge expansion joint, and the location of the abnormality, or a sign of the abnormality occurrence and the location of the sign, based on the correlation between the acceleration and the outside air temperature. A road structure condition monitoring system comprising:

5. The on-board sensor includes a speed sensor that detects a speed of the vehicle in a traveling direction, the transmitting means transmits the velocity together with the acceleration; In the estimation process in the road structure state estimation device, the acceleration is corrected based on the speed.

5. The road structure condition monitoring system according to claim 4.

6. one or more on-board sensors mounted on a vehicle; A position detection device provided in the vehicle for detecting its own position; a transmitting means provided in the vehicle for transmitting, as feature data, either or both of detection data detected by the on-board sensor and processed data obtained by processing the detection data according to a predetermined rule, together with location information, to an external device via a mobile communication network; a storage server that stores the characteristic data and the position information transmitted from the transmission means of the plurality of vehicles; a road structure state estimation device for estimating a state of a road structure based on the plurality of accumulated feature data and position information, The vehicle-mounted sensor includes a tire pressure sensor that detects tire air pressure and an outside air temperature sensor that detects an outside air temperature, the transmitting means transmits, when the tire pressure exceeds a predetermined threshold, the tire pressure and the outside air temperature for a predetermined period before and after the occurrence of the threshold as characteristic data and to which location information is added, to an external device; The road structure state estimation device estimates the occurrence of an abnormality, such as an abnormality in the gap of a bridge expansion joint, and the location of the abnormality, or a sign of the abnormality occurrence and the location of the sign, based on the correlation between the operating tire air pressure and the outside air temperature. A road structure condition monitoring system comprising:

7. The road structure state estimation device estimates an abnormality occurrence and a position related to the abnormality occurrence, or a sign of an abnormality occurrence and a position related to the sign, based on a time-dependent change in the feature data.

7. A road structure condition monitoring system according to any one of claims 1 to 6.

8. The road structure state estimation device compares the feature data for a predetermined period and a predetermined location range regarding abnormalities of a road structure that have occurred in the past, and estimates the occurrence of an abnormality and a location related to the abnormality occurrence, or a sign of the abnormality occurrence and a location related to the sign.

8. A road structure condition monitoring system according to any one of claims 1 to 7.

9. The feature data includes vehicle feature data related to a behavior of the vehicle while the vehicle is traveling, and environmental feature data related to an environment around the vehicle, The road structure state estimation device estimates an abnormality occurrence and a position related to the abnormality occurrence, or a sign of an abnormality occurrence and a position related to the sign, based on a correlation between the vehicle characteristic data and the environmental characteristic data.

9. A road structure condition monitoring system according to any one of claims 1 to 8.

10. a data transmission step in which a plurality of vehicles each having one or more on-board sensors and a position detection device for detecting their own positions transmit, as feature data, either or both of detection data detected by the on-board sensors and processed data obtained by processing the detection data according to a predetermined rule, and with location information added thereto, to an external device via a mobile communication network; a data storage step in which a storage server stores the characteristic data and the position information transmitted from the plurality of vehicles; a road structure state estimation step of estimating a state of a road structure based on the accumulated plurality of feature data and position information, The vehicle-mounted sensor includes a microphone that detects sounds during driving, In the data transmission step, the generation of an abnormal sound caused by a weld crack in a bridge is detected based on the sound detected by the microphone, with steady running sounds generated by contact between the tire and the road surface removed, and the occurrence of the abnormal sound is transmitted to the outside as characteristic data and with location information added thereto; In the estimation step, an occurrence of an abnormality such as a weld crack or a sign of an abnormality occurrence is estimated at a position related to the characteristic data based on the frequency of the characteristic data. A method for monitoring the condition of a road structure.

11. a data transmission step in which a plurality of vehicles each having one or more on-board sensors and a position detection device for detecting their own positions transmit, as feature data, either or both of detection data detected by the on-board sensors and processed data obtained by processing the detection data according to a predetermined rule, and with location information added thereto, to an external device via a mobile communication network; a data storage step in which a storage server stores the characteristic data and the position information transmitted from the plurality of vehicles; a road structure state estimation step of estimating a state of a road structure based on the accumulated plurality of feature data and position information, The on-board sensor includes an acceleration sensor that detects the acceleration of the vehicle in a direction perpendicular to a road surface or a tire pressure sensor that detects the air pressure of the tires, and an outside air temperature sensor that detects the outside air temperature, In the data transmission step, when the acceleration or the tire pressure exceeds a predetermined threshold, the acceleration or the tire pressure and the outside air temperature during a predetermined period before and after the occurrence of the threshold are transmitted to the outside as characteristic data and with location information added thereto; In the estimation step, an abnormality such as an abnormality in the gap of a bridge expansion joint and a position related to the abnormality or a sign of the abnormality and a position related to the sign are estimated based on a correlation between the acceleration or the tire air pressure and the outside air temperature. A method for monitoring the condition of a road structure.

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